I am using px4 ros2 bridge and test it with the gazebo_boat. I can use the offboard mode and set the destination for the vehicle using uorb message “trajectory_setpoint”.
Is there any uorb message can monitor whether the vehicle reach the setpoint of “trajectory_setpoint”?
For example, I set (x=23, y=52) using “trajectory_setpoint”. It stopped when it reached (x=23, y=52). After that, it is still armed and offboard mode. In this case, how can I know the vehicle reach the point without looking at the vehicle’s behaviour?
For example, I can know whether the vehicle is armed or disarmed using the "
arming_state" parameter from the uorb message “vehicle_status” and know whether the vehicle is offboard mode or not using the “flag_control_offboard_enabled” from uorb message “vehicle_control_mode”.
I need some similar uorb message which can tell me whether the vehicle reach the setpoint or not.